Optimization of flapping wing trajectory was explored using an experimental apparatus. A scaled-up hawkmoth (Manduca sexta) wing was fabricated and mounted to a three-degree of freedom flapping mechanism. The vertical force generated during flapping was measured using a load cell and the wing path was optimized to maximize the average vertical force. The mechanism design, control, and instrumen...

The central issue of finishing train is that we should distribute the thickness of each exit with reason and determine the rolling force and relative convexity. The optimization methods currently used are empirical distribution method and the load curve method, but they both have drawbacks. To solve those problems we established a mathematical model of the finishing train and introduced an impr...

In this paper, stable modifiable walking pattern algorithm is proposed using evolutionary optimized central pattern generator (CPG). Sensory feedback pathways in CPG are proposed, which use force sensing resistor (FSR) signals. For the optimization of CPG parameters, two-phase evolutionary programming (TPEP) is employed. Modifiable walking pattern generator (MWPG) generates position trajectory ...

For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central Pattern Generator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evol...

This paper describes a project concerned with the development of a mission planning system to provide automated planning assistance for the Air Force TechSat 21 formation-flying satellite cluster experiment: Spacecraft Cluster Automatic Planner/Scheduler (SpaceCAPS). The project’s focus is on planning and scheduling for payload management, but the system serves as a central planning system for ...

This paper proposes a stable modifiable walking pattern generator with a vertical foot motion generated by a central pattern generator that is obtained from the evolutionary constrained optimization. A modifiable walking pattern generator is employed which generates sagittal and lateral position trajectories of center of mass of humanoid robot and a CPG generates the vertical foot trajectory of...

In this article we present our recent efforts in designing a comprehensive consistent scientific workflow, nicknamed Wolf2 Pack, for force-field optimization in the field of computational chemistry. Atomistic force fields represent a multiscale bridge that connects high-resolution quantum mechanics knowledge to coarser molecular mechanics based models. Force field optimization has so far been a...

Topology and size optimization methods are used to design compliant mechanisms that produce a constant output force for a given actuator characteristic of linearly decreasing force versus displacement. The design procedure consists of two stages: (i) topology optimization using two-dimensional (2-D) continuum parametrization, and (ii) size optimization of the beam-element abstraction derived fr...

It is proposed an optimization-based controller that reactively adapt the position of the end effectors in cooperative robot systems or fingers, in case of robotic hands. The proposed optimization-based controller uses the force tracking error for each robot, allowing to reactively correct the applied force, thus guaranteeing a stable grasp. Force information is used to determine the modificati...